System and method for automatically estimating and adjusting crop residue parameters as a tillage operation is being performed

ABSTRACT

A method for estimating and adjusting crop residue parameters may include controlling an operation of a tillage implement as the implement is being towed by a work vehicle across the field to perform a tillage operation and receiving a pre-tilled image of an imaged portion of the field located to one side of a first section of the field as the implement is being towed across the first section of the field. The method may also include receiving a post-tilled image of the imaged portion of the field as the implement is being towed across the field, analyzing the pre-tilled and post-tilled images of the imaged portion of the field to estimate a crop residue parameter for the field, and, when the estimated parameter differs from a target associated with such parameter, actively adjusting the operation of the tillage implement in a manner designed to adjust the crop residue parameter.

FIELD OF THE INVENTION

The present subject matter relates generally to systems and methods forautomatically estimating and adjusting crop residue parameters as atillage operation is being performed and, more particularly, to a systemand method for automatically estimating the percent crop residuecoverage remaining on a field during the performance of a tillageoperation and for actively adjusting the operation of an associatedtillage implement when the estimated percent crop residue coveragediffers from a target percentage set for the field.

BACKGROUND OF THE INVENTION

Crop residue generally refers to the vegetation (e.g., straw, chaff,husks, cobs) remaining on the soil surface following the performance ofa given agricultural operation, such as a harvesting operation or atillage operation. For various reasons, it is important to maintain agiven amount of crop residue within a field following an agriculturaloperation. Specifically, crop residue remaining within the field canhelp in maintaining the content of organic matter within the soil andcan also serve to protect the soil from wind and water erosion. However,in some cases, leaving an excessive amount of crop residue within afield can have a negative effect on the soil's productivity potential,such as by slowing down the warming of the soil at planting time and/orby slowing down seed germination. As such, the ability to monitor and/oradjust the amount of crop residue remaining within a field can be veryimportant to maintaining a healthy, productive field, particularly whenit comes to performing tillage operations. Unfortunately, currenttillage-related systems and methods are not equipped to accurately andefficiently monitor and adjust the amount of crop residue remainingwithin a field during a tillage operation.

For example, U.S. Pat. No. 9,282,688, titled “Residue Monitoring andResidue-Based Control” (Casper et al.), discloses a residue monitoringsystem that utilizes cameras mounted on a tillage implement to captureimages of the field immediately forward of the tillage implement (i.e.,between the implement and the tractor) and immediately behind thetillage implement. The system controller is then configured to analyzethe forward and aft images to determine an indicator of the residuecoverage. However, the system proposed in U.S. Pat. No. 9,282,688suffers from various drawbacks or disadvantages, particularly withreference to the use of computer-aided image processing techniques toanalyze the forward and aft images. Specifically, given the placement ofthe cameras at the forward and aft ends of the tillage implement and theassociated field of view of each camera, the images captured aretypically going to contain significant amounts of dust and otherair-borne particles kicked up by the tractor and/or the implement as thetillage operation is being performed. As such, given the significantamount of dust and other air-borne particles contained within theimages, it becomes very difficult to develop and/or implement suitablecomputer-aided image processing techniques that can effectively,efficiently, and accurately detect the amount of crop residue remainingwithin the field.

Accordingly, an improved system and method for estimating and adjustingcrop residue parameters as a tillage operation is being performed thatovercomes one or more of the issues in the prior art would be welcomedin the technology.

BRIEF DESCRIPTION OF THE INVENTION

Aspects and advantages of the invention will be set forth in part in thefollowing description, or may be obvious from the description, or may belearned through practice of the invention.

In one aspect, the present subject matter is directed to a method forestimating and adjusting crop residue parameters as a tillage operationis being performed within a field. The method may include controlling,with a computing device, an operation of a tillage implement as thetillage implement is being towed by a work vehicle across the field toperform the tillage operation and receiving, with the computing device,a pre-tilled image of an imaged portion of the field located to one sideof a first section of the field as the tillage implement is being towedacross the first section of the field. The pre-tilled image may beassociated with an initial side view image of the imaged portion of thefield from one of the work vehicle or the tillage implement prior to thetillage operation being performed thereon. The method may also includereceiving, with the computing device, a post-tilled image of the imagedportion of the field as the tillage implement is being towed by the workvehicle across the field. The post-tilled image may be associated with asubsequent side view image of the imaged portion of the field after thetillage operation has been performed thereon. In addition, the methodmay include analyzing, with the computing device, the pre-tilled andpost-tilled images of the imaged portion of the field to estimate a cropresidue parameter for the field and, when the estimated crop residueparameter differs from a target associated with the crop residueparameter, actively adjusting, with the computing device, the operationof the tillage implement in a manner designed to adjust the crop residueparameter.

In another aspect, the present subject matter is directed to a systemfor estimating and adjusting crop residue parameters as a tillageoperation is being performed within a field via a tillage implementtowed by a work vehicle. The system may include an imaging deviceinstalled relative to one of the work vehicle or the tillage implementsuch that the imaging device is configured to capture images of thefield as the tillage operation is being performed. In addition, thesystem may include a controller commutatively coupled to the imagingdevice. The controller may include a processor and associated memory.The memory may store instructions that, when implemented by theprocessor, configure the controller to receive, from the imaging device,a pre-tilled image of an imaged portion of the field located to one sideof a first section of the field as the tillage implement is being towedby the work vehicle across the first section of the field. Thepre-tilled image may be associated with an initial side view image ofthe imaged portion of the field from the one of the work vehicle or thetillage implement prior to the tillage operation being performedthereon. The controller may also be configured to receive, from theimaging device, a post-tilled image of the imaged portion of the fieldas the tillage implement is being towed by the work vehicle along thefield. The post-tilled image may be associated with a subsequent sideview image of the imaged portion of the field after the tillageoperation has been performed thereon. Moreover, the controller may beconfigured to analyze the pre-tilled and post-tilled images of theimaged portion of the field to estimate a crop residue parameter for thefield and, when the estimated crop residue parameter differs from atarget associated with the crop residue parameter, actively adjust theoperation of the tillage implement in a manner designed to adjust thecrop residue parameter.

These and other features, aspects and advantages of the presentinvention will become better understood with reference to the followingdescription and appended claims. The accompanying drawings, which areincorporated in and constitute a part of this specification, illustrateembodiments of the invention and, together with the description, serveto explain the principles of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

A full and enabling disclosure of the present invention, including thebest mode thereof, directed to one of ordinary skill in the art, is setforth in the specification, which makes reference to the appendedfigures, in which:

FIG. 1 illustrates a perspective view of one embodiment of a workvehicle towing a tillage implement in accordance with aspects of thepresent subject matter;

FIG. 2 illustrates a perspective view of the tillage implement shown inFIG. 1;

FIG. 3 illustrates a schematic view of one embodiment of a system forestimating and adjusting crop residue parameters as a tillage operationis being performed in accordance with aspects of the present subjectmatter;

FIG. 4 illustrates a simplified, aerial view of a work vehicle andassociated tillage implement performing a tillage operation within afield in accordance with aspects of the present subject matter,particularly illustrating side view images of the field being capturedduring the tillage operation;

FIG. 5 illustrates another simplified, aerial view of the work vehicleand the tillage implement shown in FIG. 4, particularly illustrating thework vehicle making another tillage pass across the field as side viewimages of the field are being captured;

FIG. 6 illustrates yet another simplified, aerial view of the workvehicle and the tillage implement shown in FIG. 4, particularlyillustrating the work vehicle making a further tillage pass across thefield as side view images of the field are being captured; and

FIG. 7 illustrates a flow diagram of one embodiment of a method forestimating and adjusting crop residue parameters as a tillage operationis being performed in accordance with aspects of the present subjectmatter.

DETAILED DESCRIPTION OF THE INVENTION

Reference now will be made in detail to embodiments of the invention,one or more examples of which are illustrated in the drawings. Eachexample is provided by way of explanation of the invention, notlimitation of the invention. In fact, it will be apparent to thoseskilled in the art that various modifications and variations can be madein the present invention without departing from the scope or spirit ofthe invention. For instance, features illustrated or described as partof one embodiment can be used with another embodiment to yield a stillfurther embodiment. Thus, it is intended that the present inventioncovers such modifications and variations as come within the scope of theappended claims and their equivalents.

In general, the present subject matter is directed to a system andmethod for automatically estimating and adjusting crop residueparameters as a tillage implement is being toward across a field by awork vehicle to perform a tillage operation within the field.Specifically, in several embodiments, one or more imaging devices (e.g.,a camera(s)) may be provided in operative association with the workvehicle and/or the implement to capture images of the field as thetillage operation is being performed. For example, in one embodiment,the imaging device(s) may be utilized to capture before and after imagesof various portions of the field prior to and following such portions ofthe field being tilled. The images may then be automatically analyzedvia an associated controller using computer-vision techniques toestimate the percent crop residue coverage for each imaged portion ofthe field (i.e., the portion of the imaged area within each image thatis covered by crop residue divided by the total imaged area).Thereafter, if it is determined that the estimated percent crop residuecoverage differs from a given target value or falls outside a giventarget range, the controller may be configured to automatically adjustthe operation of the tillage implement in a manner that increases ordecreases, as desired, the amount of crop residue remaining within thefield following the tillage operation. For example, the controller maybe configured to automatically adjust the ground speed of the tillageimplement and/or adjust a tillage parameter(s) associated with one ormore ground-engaging tools of the tillage implement (e.g., a penetrationdepth and/or a down pressure for one or more of the ground-engagingtools).

In several embodiments, the imaging device(s) may be configured tocapture side view images of the field from its installed location on thework vehicle or the implement. For instance, the imaging device(s) maybe installed on the work vehicle or the implement such that the imagingdevice(s) has a field of view directed towards the portion(s) of thefield passing along one or both sides of the work vehicle/implement asthe tillage operation is being performed (e.g., in a direction generallyperpendicular to the direction of travel of the work vehicle). As such,when the work vehicle makes a tillage pass across a given section of thefield, the imaging device(s) may be configured to capture images of theadjacent portions of the field disposed along one or both sides of thecurrent section of the field being tilled. By configuring the imagingdevice(s) to capture side view images of the field (e.g., as opposed toforward and aft images generally aligned with the direction of travel ofthe work vehicle), the adjacent portions of the field may be imaged witha significant reduction in the amount of dust and other airborneparticles captured within each image. Specifically, the amount of dustand other airborne particles contained within the air along either sideof the work vehicle or tillage implement is typically significantly lessthan the amount of such airborne particles contained within the airbetween the work vehicle and the tillage implement and the air directlybehind the implement. As a result, the images captured by the imagingdevice(s) may be more effectively, efficiently, and accurately analyzedby the controller using known computer-vision techniques.

Referring now to drawings, FIGS. 1 and 2 illustrate perspective views ofone embodiment of a work vehicle 10 and an associated agriculturaltillage implement 12 in accordance with aspects of the present subjectmatter. Specifically, FIG. 1 illustrates a perspective view of the workvehicle 10 towing the tillage implement 12 (e.g., across a field).Additionally, FIG. 2 illustrates a perspective view of the tillageimplement 12 shown in FIG. 1. As shown in the illustrated embodiment,the work vehicle 10 is configured as an agricultural tractor. However,in other embodiments, the work vehicle 10 may be configured as any othersuitable agricultural vehicle.

As particularly shown in FIG. 1, the work vehicle 10 includes a pair offront track assemblies 14, a pair or rear track assemblies 16 and aframe or chassis 18 coupled to and supported by the track assemblies 14,16. An operator's cab 20 may be supported by a portion of the chassis 18and may house various input devices for permitting an operator tocontrol the operation of one or more components of the work vehicle 10and/or one or more components of the implement 12. Additionally, as isgenerally understood, the work vehicle 10 may include an engine 22 (FIG.3) and a transmission 24 (FIG. 3) mounted on the chassis 18. Thetransmission 24 may be operably coupled to the engine 22 and may providevariably adjusted gear ratios for transferring engine power to the trackassemblies 124, 16 via a drive axle assembly (not shown) (or via axlesif multiple drive axles are employed).

Additionally, as shown in FIGS. 1 and 2, the tillage implement 12 maygenerally include a carriage frame assembly 30 configured to be towed bythe work vehicle via a pull hitch or tow bar 32 in a travel direction ofthe vehicle (e.g., as indicated by arrow 34). As is generallyunderstood, the carriage frame assembly 30 may be configured to supporta plurality of ground-engaging tools, such as a plurality of shanks,disk blades, leveling blades, basket assemblies, and/or the like. Inseveral embodiments, the various ground-engaging tools may be configuredto perform a tillage operation across the field along which the tillageimplement 12.

As particularly shown in FIG. 2, the carriage frame assembly 30 mayinclude aft extending carrier frame members 36 coupled to the tow bar32. In addition, reinforcing gusset plates 38 may be used to strengthenthe connection between the tow bar 32 and the carrier frame members 36.In several embodiments, the carriage frame assembly 30 may generallyfunction to support a central frame 40, a forward frame 42 positionedforward of the central frame 40 in the direction of travel 34 of thework vehicle 10, and an aft frame 44 positioned aft of the central frame40 in the direction of travel 34 of the work vehicle 10. As shown inFIG. 2, in one embodiment, the central frame 40 may correspond to ashank frame configured to support a plurality of ground-engaging shanks46. In such an embodiment, the shanks 46 may be configured to till thesoil as the tillage implement 12 is towed across the field. However, inother embodiments, the central frame 40 may be configured to support anyother suitable ground-engaging tools.

Additionally, as shown in FIG. 2, in one embodiment, the forward frame42 may correspond to a disk frame configured to support various gangs orsets 48 of disk blades 50. In such an embodiment, each disk blade 50may, for example, include both a concave side (not shown) and a convexside (not shown). In addition, the various gangs 48 of disk blades 50may be oriented at an angle relative to the travel direction 34 of thework vehicle 10 to promote more effective tilling of the soil. However,in other embodiments, the forward frame 42 may be configured to supportany other suitable ground-engaging tools.

Moreover, similar to the central and forward frames 40, 42, the aftframe 44 may also be configured to support a plurality ofground-engaging tools. For instance, in the illustrated embodiment, theaft frame is configured to support a plurality of leveling blades 52 androlling (or crumbler) basket assemblies 54. However, in otherembodiments, any other suitable ground-engaging tools may be coupled toand supported by the aft frame 44, such as a plurality closing disks.

In addition, the tillage implement 12 may also include any number ofsuitable actuators (e.g., hydraulic cylinders) for adjusting therelative positioning, penetration depth, and/or down force associatedwith the various ground-engaging tools 46, 50, 52, 54. For instance, thetillage implement 12 may include one or more first actuators 56 coupledto the central frame 40 for raising or lowering the central frame 40relative to the ground, thereby allowing the penetration depth and/orthe down pressure of the shanks 46 to be adjusted. Similarly, thetillage implement 12 may include one or more second actuators 58 coupledto the disk forward frame 42 to adjust the penetration depth and/or thedown pressure of the disk blades 50. Moreover, the tillage implement 12may include one or more third actuators 60 coupled to the aft frame 44to allow the aft frame 44 to be moved relative to the central frame 40,thereby allowing the relevant operating parameters of theground-engaging tools 52, 54 supported by the aft frame 44 (e.g., thedown pressure and/or the penetration depth).

It should be appreciated that the configuration of the work vehicle 10described above and shown in FIG. 1 is provided only to place thepresent subject matter in an exemplary field of use. Thus, it should beappreciated that the present subject matter may be readily adaptable toany manner of work vehicle configuration. For example, in an alternativeembodiment, a separate frame or chassis may be provided to which theengine, transmission, and drive axle assembly are coupled, aconfiguration common in smaller tractors. Still other configurations mayuse an articulated chassis to steer the work vehicle 10, or rely ontires/wheels in lieu of the track assemblies 14, 16.

It should also be appreciated that the configuration of the tillageimplement 12 described above and shown in FIGS. 1 and 2 is only providedfor exemplary purposes. Thus, it should be appreciated that the presentsubject matter may be readily adaptable to any manner of tillageimplement configuration. For example, as indicated above, each framesection of the tillage implement 12 may be configured to support anysuitable type of ground-engaging tools, such as by installing closingdisks on the aft frame 44 of the tillage implement 12.

Additionally, in accordance with aspects of the present subject matter,the work vehicle 10 and/or the implement 12 may include one or moreimaging devices coupled thereto and/or supported thereon for capturingimages of the field as a tillage operation is being performed via thetillage implement 12. Specifically, in several embodiments, the imagingdevice(s) may be provided in operative association with the work vehicle10 and/or the implement 12 such that the imaging device(s) has a fieldof view directed towards a portion(s) of the field disposed along one orboth of the sides of the work vehicle 10 and/or the implement 12 as thetillage implement 12 is being towed across the field. As such, theimaging device(s) may capture side view images from the tractor 10and/or implement 12 of the portion(s) of the field being passed by thetractor 10 and/or implement 12 as an adjacent portion or section of thefield is being tilled.

In general, the imaging device(s) may correspond to any suitabledevice(s) configured to capture images of the field being tilled thatallow the field's soil to be distinguished from the crop residueremaining on top of the soil. For instance, in several embodiments, theimaging device(s) may correspond to any suitable camera(s), such assingle-spectrum camera or a multi-spectrum camera configured to captureimages in the visible light range and/or infrared spectral range.Additionally, in a particular embodiment, the camera(s) may correspondto a single lens camera configured to capture two-dimensional images ora stereo camera(s) having two or more lenses with a separate imagesensor for each lens to allow the camera(s) to capture stereographic orthree-dimensional images. Alternatively, the imaging device(s) maycorrespond to any other suitable image capture device(s) and/or visionsystem(s) that is capable of capturing “images” that allow the cropresidue contained within each image to be distinguished from the soil.

As shown in FIG. 1, in one embodiment, an imaging device 104 may becoupled to one of the sides of the work vehicle 10 such that the imagingdevice 104 has a field of view 106 that allows it to capture images ofan adjacent area or portion 108 of the field disposed along the side ofthe work vehicle 10. For instance, the field of view 106 of the imagingdevice 104 may be directed along a plane or reference line that extendsgenerally perpendicular to the travel direction 34 of the work vehicle10. In such an embodiment, as the work vehicle 10 tows the tillageimplement 12 to allow a tillage operation to be performed along a givensection of the field, the imaging device 104 may capture images alongthe side of the work vehicle 10 of the adjacent area or portion 108 ofthe field both before and after such portion 108 of the field has beentilled. As will be described below, by analyzing the images captured bythe imaging device 104, an associated controller 102 (FIG. 3) may beconfigured to estimate a crop residue parameter associated with theimaged portion(s) of the field (e.g., a percent crop residue coverage).Based on the estimated crop residue parameter, the controller 102 maythen control/adjust the operation of the tillage implement 12, asnecessary, to maintain the crop residue parameter at a given targetvalue and/or within a given target range (e.g., an operating rangeddefined around a target crop residue percentage set for the field).

It should be appreciated that, in alternative embodiments, the imagingdevice(s) may be installed at any other suitable location that allowsthe imaging device(s) to capture side view images of an adjacent portionof the field disposed along either side of the section of the fieldcurrently being tilled. For example, as an alternative embodiment, theimaging device(s) may be coupled to the opposed side of the work vehicle10 or to the front of the work vehicle 10 in a manner that allows theimaging device(s) to have a field of view directed outwardly from agiven side of the work vehicle 10. Similarly, in another embodiment, oneor more imaging devices may be coupled to a portion of the tillageimplement 12. For instance, as shown in FIG. 2, an imaging device 104may be coupled to one side of the carriage frame assembly 30 (e.g., to aframe member of the forward frame 40) such that the imaging device 104has a field of view 106 that allows it to capture images of an adjacentarea or portion 108 of the field disposed along the side of the tillageimplement 12.

It should also be appreciated that, although the embodiments shown inFIGS. 1 and 2 simply illustrate a single imaging device 104 installedinto the work vehicle 10 and/or the tillage implement 12, multipleimaging devices may be installed relative to the work vehicle 10 and/orthe implement 12 to allow the imaging devices to capture side viewimages of the adjacent portion(s) of the field at two or more differentperspectives and/or to allow the imaging devices to simultaneouslycapture side view images of various different portions of the field. Forinstance, as will be described below with reference to FIGS. 4-6, aseparate imaging device 104A, 104B may be coupled to the either side ofthe work vehicle 10 to allow side view images to be captured of adjacentportions of the field along both sides of the section of the fieldcurrently being tilled.

Referring now to FIG. 3, a schematic view of one embodiment of a system100 for estimating and adjusting crop residue parameters as a tillageoperation is being performed is illustrated in accordance with aspectsof the present subject matter. In general, the system 100 will bedescribed herein with reference to the work vehicle 10 and the tillageimplement 12 described above with reference to FIGS. 1 and 2. However,it should be appreciated that the disclosed system 100 may generally beutilized with work vehicles having any suitable vehicle configurationand/or tillage implements have any suitable implement configuration.

In several embodiments, the system 100 may include a controller 102 andvarious other components configured to be communicatively coupled toand/or controlled by the controller 102, such as one or more imagingdevices 104 and/or various components of the work vehicle 10 and/or thetillage implement 12. As will be described in greater detail below, thecontroller 102 may be configured to receive side view images from theimaging device(s) 104 that depict portions of the field adjacent to oneboth sides of the work vehicle 10 and/or the tillage implement 12 as atillage operation is being performed within the field. Based on ananalysis of the images received from the imaging device(s) 104, thecontroller 102 may be configured to estimate a crop residue parameterassociated with the field being tilled. Thereafter, the controller 102may be configured to adjust the operation of the tillage implement, asnecessary, to ensure that the estimated crop residue parameter ismaintained at a given target value and/or within a target range.

In general, the controller 102 may correspond to any suitableprocessor-based device(s), such as a computing device or any combinationof computing devices. Thus, as shown in FIG. 3, the controller 102 maygenerally include one or more processor(s) 110 and associated memorydevices 112 configured to perform a variety of computer-implementedfunctions (e.g., performing the methods, steps, algorithms, calculationsand the like disclosed herein). As used herein, the term “processor”refers not only to integrated circuits referred to in the art as beingincluded in a computer, but also refers to a controller, amicrocontroller, a microcomputer, a programmable logic controller (PLC),an application specific integrated circuit, and other programmablecircuits. Additionally, the memory 112 may generally comprise memoryelement(s) including, but not limited to, computer readable medium(e.g., random access memory (RAM)), computer readable non-volatilemedium (e.g., a flash memory), a floppy disk, a compact disc-read onlymemory (CD-ROM), a magneto-optical disk (MOD), a digital versatile disc(DVD) and/or other suitable memory elements. Such memory 112 maygenerally be configured to store information accessible to theprocessor(s) 110, including data 114 that can be retrieved, manipulated,created and/or stored by the processor(s) 110 and instructions 116 thatcan be executed by the processor(s) 110.

In several embodiments, the data 114 may be stored in one or moredatabases. For example, the memory 112 may include an image database 118for storing images received from the imaging device(s) 104. For example,the imaging device(s) 104 may be configured to continuously orperiodically capture side view images of adjacent portion(s) of thefield as the tillage operation is being performed. In such anembodiment, the images transmitted to the controller 102 from theimaging device(s) 104 may be stored within the image database 118 forsubsequent processing and/or analysis.

Additionally, as shown in FIG. 3, the memory 12 may include a cropresidue database 120 for storing information related to crop residueparameters for the field being tilled. For example, as will be describedbelow, based on the images received from the imaging device(s) 104, thecontroller 102 may be configured to estimate or calculate one or morecrop residue parameters for the field, such as a percent crop residuecoverage for an imaged portion of the field (and/or an average percentcrop residue coverage for the field) and/or a percent crop residuedifferential corresponding to the difference in the pre-tiled andpost-tilled percent crop residue coverages for an imaged portion of thefield (and/or an average percent crop residue differential). The cropresidue parameter(s) estimated or calculated by the controller 102 maythen be stored within the crop residue database 120 for subsequentprocessing and/or analysis.

Moreover, in several embodiments, the memory 12 may also include alocation database 112 storing location information about the workvehicle/implement 10, 12 and/or information about the field being tilled(e.g., a field map). Specifically, as shown in FIG. 3, the controller102 may be communicatively coupled to a positioning device(s) 124installed on or within the work vehicle 10 and/or on or within theimplement 12. For example, in one embodiment, the positioning device(s)124 may be configured to determine the exact location of the workvehicle 10 and/or the implement 12 by using a satellite navigationposition system (e.g. a GPS system, a Galileo positioning system, theGlobal Navigation satellite system (GLONASS), the BeiDou SatelliteNavigation and Positioning system, and/or the like). In such anembodiment, the location determined by the positioning device(s) 124 maybe transmitted to the controller 102 (e.g., in the form coordinates) andsubsequently stored within the location database 122 for subsequentprocessing and/or analysis.

Additionally, in several embodiments, the location data stored withinthe location database 122 may also be correlated to the image datastored within the image database 118. For instance, in one embodiment,the location coordinates derived from the positioning device(s) 124 andthe image(s) captured by the imaging device(s) 104 may both betime-stamped. In such an embodiment, the time-stamped data may alloweach image captured by the imaging device(s) 102 to be matched orcorrelated to a corresponding set of location coordinates received fromthe positioning device(s) 124, thereby allowing the precise location ofthe portion of the field depicted within a given image to be known (orat least capable of calculation) by the controller 102.

Moreover, by matching each image to a corresponding set of locationcoordinates, the controller 102 may also be configured to generate orupdate a corresponding field map associated with the field being tilled.For example, in instances in which the controller 102 already includes afield map stored within its memory 112 that includes locationcoordinates associated with various points across the field, each imagecaptured by the imaging device(s) 104 may be mapped or correlated to agiven location within the field map. Alternatively, based on thelocation data and the associated image data, the controller 102 may beconfigured to generate a field map for the field currently being tilledthat includes the geo-located images associated therewith.

Referring still to FIG. 3, in several embodiments, the instructions 116stored within the memory 112 of the controller 102 may be executed bythe processor(s) 110 to implement an image analysis module 126. Ingeneral, the image analysis module 126 may be configured to analyze theimages received by the imaging device(s) 104 to allow the controller 102to estimate one or more crop residue parameters associated with thefield currently being tilled. For instance, the image analysis module126 may be configured to implement a suitable computer-vision algorithmor any other suitable image-processing technique that allows thecontroller 102 to identify or distinguish within each image the soilfrom any crop residue remaining on top of the soil. By distinguishingthe soil from the crop residue contained within each image, thecontroller 102 may then determine the percent crop residue coverage forthe imaged portion of the field. Such value may then be stored withinthe crop residue database 120 and/or utilized to calculate one or moreadditional crop residue parameters (e.g., an average percent cropresidue coverage for the field, a percent crop residue differential forthe imaged portion of the field, and/or an average percent crop residuedifferential for the field). For instance, as will be described belowwith reference to FIGS. 4-6, the imaging device(s) 1-4 may be used tocapture images of the same area or portion of the field before and aftersuch portion of the field has been tilled. Thus, for a given imagedportion of the field, the controller 102 may be configured to calculatevalue for both a pre-tilled percent crop residue coverage and apost-tilled percent crop residue coverage. The estimated pre-tilled andpost-tilled values may then be compared to calculate a percent cropresidue differential for the imaged portion of the field, which mayprovide the controller 102 with an indication of the currenteffectiveness of the tillage implement 12 in removing crop residue fromand/or maintaining crop residue on the surface of the soil.

It should be appreciated that, in general, the computer-vision algorithmand/or image-processing technique utilized by the controller 102 mayrely upon any suitable image characteristics captured by the imagingdevice(s) 104 to identify or distinguish the soil from the crop residuecontained within each image. For instance, when the imaging device(s)104 corresponds to a camera capable of capturing the distinction betweenthe reflective characteristics of the soil and the crop residue, thecontroller 102 may be configured to implement a computer-visionalgorithm that identifies the differences in the reflectivity orspectral absorption between the soil and the crop residue containedwithin each image being analyzed. Alternatively, the controller 102 maybe configured to utilize an edge-finding algorithm to identify ordistinguish the soil from the crop residue contained within each image.

Additionally, upon distinguishing the soil from the crop residue, thecontroller 102 may be configured to utilize any suitable technique ormethodology for calculating the percent crop residue coverage for theportion of the field contained within each image. For instance, in oneembodiment, the controller 102 may utilize a “blob analysis” in whichthe crop residue identified within each image is represented as a “blob”or plurality of “blobs” encompassing a given area within the image. Insuch an embodiment, the percent crop residue coverage for the imagedportion of the field may be calculated using the following equation(Equation 1):

$\begin{matrix}{{{Percent}\mspace{14mu} {Crop}\mspace{14mu} {Residue}} = {( {1 - \frac{( {{{total}\mspace{14mu} {image}\mspace{14mu} {area}} - {{blob}\mspace{14mu} {area}}} )}{{total}\mspace{14mu} {image}\mspace{14mu} {area}}} )*100}} & (1)\end{matrix}$

wherein, the total image area corresponds to the total area definedwithin the image (e.g., as a function of the total number of pixels ofthe image) and the blob area corresponds to the total area representedby crop residue within the image (e.g., as a function of the totalnumber of pixels representing the identified crop residue).

Moreover, as shown in FIG. 3, the instructions 116 stored within thememory 112 of the controller 102 may also be executed by theprocessor(s) 110 to implement a tillage control module 128. In general,the tillage control module 128 may be configured to adjust the operationof the tillage implement 12 by controlling one or more components of thetillage implement 12 and/or the work vehicle 10. Specifically, inseveral embodiments, when the estimated crop residue parameter differsfrom a given target set for such parameter, the tillage control module128 may be configured to fine-tune the operation of the tillageimplement 12 in a manner designed to adjust the amount of crop residueremaining in the field. For instance, when it is desired to have apercent crop residue coverage of 30%, the tillage control module 128 maybe configured to adjust the operation of the tillage implement 12 so asto increase or decrease the amount of crop residue remaining in thefield when the estimated percent crop residue coverage for a givenimaged portion of the field (or an average estimated percent cropresidue coverage across multiple imaged portions of the field) differsfrom the target percentage. Similarly, when it is desired to have apercent crop residue coverage of greater than 20% and less than 30%, thetillage control module 128 may be configured to adjust the operation ofthe tillage implement 12 so as to increase or decrease the amount ofcrop residue remaining in the field when the estimated percent cropresidue coverage for a given imaged portion of the field (or an averageestimated percent crop residue coverage across multiple imaged portionsof the field) falls outside the target range.

It should be appreciated that the controller 102 may be configured toimplement various different control actions to adjust the operation ofthe tillage implement 12 in a manner that increases or decreases theamount of crop residue remaining in the field. In one embodiment, thecontroller 102 may be configured to increase or decrease the operationalor ground speed of the implement 12 to affect an increase or decrease inthe crop residue coverage. For instance, as shown in FIG. 3, thecontroller 102 may be communicatively coupled to both the engine 22 andthe transmission 24 of the work vehicle 10. In such an embodiment, thecontroller 102 may be configured to adjust the operation of the engine22 and/or the transmission 24 in a manner that increases or decreasesthe ground speed of the wok vehicle 10 and, thus, the ground speed ofthe tillage implement 12, such as by transmitting suitable controlsignals for controlling an engine or speed governor (not shown)associated with the engine 22 and/or transmitting suitable controlsignals for controlling the engagement/disengagement of one or moreclutches (not shown) provided in operative association with thetransmission 24.

In addition to the adjusting the ground speed of the tillage implement12 (or as an alternative thereto), the controller 102 may also beconfigured to adjust a tillage parameter associated with theground-engaging tools of the tillage implement 12. For instance, asshown in FIG. 3, the controller 102 may be communicatively coupled toone or more valves 130 configured to regulate the supply of fluid (e.g.,hydraulic fluid or air) to one or more corresponding actuators 56, 58,60 of the tillage implement 12. In such an embodiment, by regulating thesupply of fluid to the actuator(s) 56, 58, 60, the controller 104 mayautomatically adjust the penetration depth, the down force, and/or anyother suitable tillage parameter associated with the ground-engagingtools of the tillage implement 12.

Referring still to FIG. 3, the controller 102 may also include acommunications interface 132 to provide a means for the controller 102to communicate with any of the various other system components describedherein. For instance, one or more communicative links or interfaces 134(e.g., one or more data buses) may be provided between thecommunications interface 132 and the imaging device(s) 104 to allowimages transmitted from the imaging device(s) 104 to be received by thecontroller 102. Similarly, one or more communicative links or interfaces136 (e.g., one or more data buses) may be provided between thecommunications interface 132 and the positioning device(s) 124 to allowthe location information generated by the positioning device(s) 124 tobe received by the controller 102. Moreover, as shown in FIG. 3, one ormore communicative links or interfaces 138 (e.g., one or more databuses) may be provided between the communications interface 132 and theengine 22, the transmission 24, the control valves 130, and/or the liketo allow the controller 102 to control the operation of such systemcomponents.

Referring now to FIGS. 4-6, simplified, aerial views of a work vehicle10 and associated tillage implement 12 performing a tillage operationwithin a field 200 is illustrated in accordance with aspects of thepresent subject matter. As shown, the field 200 may be divided into aplurality of different field sections generally defining the variousdifferent passes to be made by the work vehicle 10 and the tillageimplement 12 across the field 200 when performing the tillage operation.For example, in the portion of the field 200 shown in FIGS. 4-6, fivedifferent field sections (e.g., a first field section 202, a secondfield section 204, a third field section 206, a fourth field section208, and a fifth field section 210) are illustrated that correspond tofive separate passes to be made by the work vehicle 10 and the tillageimplement 12 across the field 200.

As shown in the illustrated embodiment, the work vehicle 10 includes afirst imaging device 104A having a field of view directed towards theportion of the field 200 disposed on a first side 80 of the work vehicle10 and a second imaging device 104B having a field of view directedtowards the portion of the field 200 disposed on a second side 82 of thework vehicle 10. As such, the imaging devices 104A, 104B may beconfigured to capture side view images of the portions of the field 200disposed along the opposed sides 80, 82 of the work vehicle 10 as thework vehicle 10 tows the tillage implement 12 across the field 200 tomake the various tillage passes while performing the tillage operation.For instance, as shown in FIG. 4, as the work vehicle 10 traversesacross the second field section 204 to allow such section 204 to betilled via the tillage implement 12, the first imaging device 104A maybe configured to capture a plurality of images of various portions orimaged areas of the first field section 202 (e.g., imaged area 220)while the second imaging device 104B may be configured to capture aplurality of images of various portions or imaged areas of the thirdfield section 206 (e.g., imaged area 222). Following the tillage passacross the second field section 204, the work vehicle 10 may be turnedaround to make a subsequent pass across the adjacent, third fieldsection 206 to allow such section to be tilled via the tillage implement12. As shown in FIG. 5, as the work vehicle 10 traverses across thethird field section 206, the first imaging device 104A may be configuredto capture a plurality of images of various portions or imaged areas ofthe second field section 204 (e.g., imaged area 224) while the secondimaging device 104B may be configured to capture a plurality of imagesof various portions or imaged areas of the fourth field section 208(e.g., imaged area 226). Such process may then be repeated as the workvehicle 10 makes subsequent tillage passes across the field 200. Forexample, as shown in FIG. 6, as the work vehicle 10 traverses across thefourth field section 208 to allow such section 208 to be tilled via thetillage implement 12, the first imaging device 104A may be configured tocapture a plurality of images of various portions or imaged areas of thethird field section 206 (e.g., imaged area 228) while the second imagingdevice 104B may be configured to capture a plurality of images ofvarious portions or imaged areas of the fifth field section 210 (e.g.,imaged area 230).

It should be appreciated that, by capturing images of portions of thefield along either side 80, 82 of the work vehicle 10 as it is traversedacross the field 200, the imaging devices 104A, 104B may be configuredto capture images of specific portions of the field 200 before and afterthe tillage operation is performed on such field portions. For instance,as shown in FIG. 4, during the tillage pass across the second fieldsection 204, images of the third field section 206 may be captured(e.g., via the second imaging device 104B) prior to the third fieldsection 206 being tilled. Thereafter, as shown in FIG. 6, during thetillage pass across the fourth field section 208, images of the thirdfield section 206 may be captured (e.g., via the second imaging device104A) after the section 206 has been tilled. In such an embodiment, thebefore and after images of each imaged portion of the third fieldsection 206 may be matched (e.g., using the location data provided bythe positioning device(s) 124) and subsequently analyzed to determinehow the current operating settings for the tillage implement 12 areimpacting the crop residue coverage.

For example, using the location coordinates correlated to each imagecaptured by the imaging devices 104A, 104B, the controller 102 maydetermine that the images depicting the imaged areas 222, 228 shown inFIGS. 4 and 6 correspond to before and after (or pre-tilled andpost-tilled) images of the same portion of the third field section 206.In such an embodiment, the controller 102 may be configured to analyzeeach image to estimate a pre-tilled percent crop residue coverage and apost-tilled percent crop residue coverage for such portion of the field200. The controller 102 may then compare the estimated percentages tocalculate a differential between the pre-tilled percent crop residuecoverage and post-tilled percent crop residue coverage. For instance, ifthe pre-tilled percent crop residue coverage corresponds to 50% and thepost-tilled percent crop residue coverage corresponds to 35%, thecontroller 102 may determine that the tillage implement 12 has reducedthe crop residue percentage by 15%. Depending on the targetpercentage(s) for the field, the controller 102 may then adjust theaggressiveness of the current operating settings for the tillageimplement 12, as necessary, to ensure that the target is maintained orachieved. For instance, if the post-tilled percent crop residue coverageis too high or if the percent crop residue differential is too low, thecontroller 102 may be configured to adjust the operation of the tillageimplement 12 in a manner that increases the aggressiveness of itstillage parameters (e.g., by increasing the penetration depth and/or thedown force for the ground-engaging tools of the tillage implement 12).Similarly, if the post-tilled percent crop residue coverage is too lowor if the percent crop residue differential is too high, the controller102 may be configured to adjust the operation of the tillage implement12 in a manner that decreases the aggressiveness of its tillageparameters (e.g., by decreasing the penetration depth and/or the downforce for the ground-engaging tools of the tillage implement 12).

It should be appreciated that, although the work vehicle 10 shown inFIGS. 4-6 includes two separate imaging devices 104A, 104B, theabove-described methodology for capturing before and after images ofvarious portions of a field 200 may be similarly implemented with asingle imaging device. For instance, assuming that the work vehicle 10only includes the second imaging device 104B shown in FIGS. 4-6, thesecond imaging device 104B may be configured to capture pre-tilledimages of the adjacent portions of the field 200 provided along thesecond side 82 of the work vehicle 10 as the work vehicle 10 makestillage passes in the travel direction 20 shown in FIGS. 4 and 6. Insuch an embodiment, when the work vehicle 10 turns around and makestillage passes in the travel direction 20 shown in FIG. 5, the secondside 82 of the work vehicle 10 will be facing the previously tilledsections of the field 200. As such, the second imaging device 104B maybe used to capture post-tilled images of the adjacent portions of thefield 200 provided along the second side 82 of the work vehicle 10.

It should also be appreciated that, as indicated above, the field ofview of each imaging device 104A, 104B may, in one embodiment, bedirected generally perpendicular to the travel direction 20 of the workvehicle 10. As described herein, the field of view of an imaging devicemay be directed generally perpendicular of the travel direction 20 ofthe work vehicle if the center of the field of view is directly along aview path having an angle of orientation defined relative to a referenceline or plane extending perpendicular to the travel direction 20 thatfalls within an angular range of from about +/−25 degrees, such as fromabout +/−20 degrees or from about +/−10 degrees and/or any othersubranges therebetween. For instance, as shown in FIG. 4, the secondimaging device 104B defines a field of view having an angle oforientation defined relative to a reference line or plane 240 extendingperpendicular to the travel direction 20 that falls within a specificangular range 242 (e.g., +/−25 degrees).

Referring now to FIG. 7, a flow diagram of one embodiment of a method300 for estimating and adjusting crop residue parameters as a tillageoperation is being performed within a field is illustrated in accordancewith aspects of the present subject matter. In general, the method 300will be described herein with reference to the work vehicle 10 and thetillage implement 12 shown in FIGS. 1 and 2, as well as the varioussystem components shown in FIG. 3. However, it should be appreciatedthat the disclosed method 300 may be implemented with work vehiclesand/or tillage implements having any other suitable configurationsand/or within systems having any other suitable system configuration. Inaddition, although FIG. 7 depicts steps performed in a particular orderfor purposes of illustration and discussion, the methods discussedherein are not limited to any particular order or arrangement. Oneskilled in the art, using the disclosures provided herein, willappreciate that various steps of the methods disclosed herein can beomitted, rearranged, combined, and/or adapted in various ways withoutdeviating from the scope of the present disclosure.

As shown in FIG. 7, at (302), the method may include controlling theoperation of a tillage implement as the tillage implement is being towedby a work vehicle across the field to perform the tillage operation.Specifically, as indicated above, the controller 102 of the disclosedsystem 100 may be configured to control the operation of the tillageimplement 12, such as by controlling the ground speed at which theimplement 12 is being towed and/or by controlling one or more tillageparameters associated with the implement (e.g., the down pressure and/orthe penetration depth of one or more ground-engaging tools of theimplement 12).

Additionally, at (304), the method 300 may include receiving apre-tilled image of an imaged portion of the field located to one sideof a first section of the field as the tillage implement is being towedacross the first section of the field. Specifically, as indicated above,the controller 102 may be coupled to one or more imaging devices 104configured to capture side view images of various portions of the fieldprior to the tillage operation being performed on such portions of thefield.

Moreover, at (306), the method 300 may include receiving a post-tilledimage of the imaged portion of the field as the tillage implement isbeing towed by the work vehicle across the field. Specifically, inaddition to capturing a pre-tilled image of a given portion of thefield, the imaging device(s) 104 may also be utilized to capture asubsequent side view image of the same portion of the field after thetillage operation has been performed thereon. As indicated above, thepre-tilled and post-tilled images may be matched or correlated to eachother, for example, using the location data provided by the positioningdevice(s) 124.

Referring still to FIG. 7, at (308), the method 300 may includeanalyzing the pre-tilled and post-tilled images of the imaged portion ofthe field to estimate a crop residue parameter for the field. Forinstance, as indicated above, the controller 102 may, in severalembodiments, be configured to implement a computer-vision algorithm orany other suitable image-processing technique that allows the controller102 to distinguish the crop residue contained within each image from theunderlying soil. In such embodiments, by identifying the amount of cropresidue contained within each image, the controller 102 may beconfigured to estimate or calculate a percent crop reside cover for eachimaged portion of the field.

Additionally, at (310), the method 300 may include actively adjustingthe operation of the tillage implement in a manner designed to adjustthe crop residue parameter when the estimated crop residue parameterdiffers from a target associated with the crop residue parameter.Specifically, as indicated above, when the estimated crop residueparameter differs from a target value set for such parameter (or fallsoutside a target range set for such parameter), the controller 102 maybe configured to actively adjust the operation of the tillage implement12 in a manner that increases or decreases the amount of crop residueremaining within the field following the tillage operation. Forinstance, the controller 102 may be configured to adjust the groundspeed at which the implement 12 is being towed and/or adjust one or moretillage parameters associated with the implement 12.

This written description uses examples to disclose the invention,including the best mode, and also to enable any person skilled in theart to practice the invention, including making and using any devices orsystems and performing any incorporated methods. The patentable scope ofthe invention is defined by the claims, and may include other examplesthat occur to those skilled in the art. Such other examples are intendedto be within the scope of the claims if they include structural elementsthat do not differ from the literal language of the claims, or if theyinclude equivalent structural elements with insubstantial differencesfrom the literal languages of the claims.

What is claimed is:
 1. A method for estimating and adjusting cropresidue parameters as a tillage operation is being performed within afield, the method comprising: controlling, with a computing device, anoperation of a tillage implement as the tillage implement is being towedby a work vehicle across the field to perform the tillage operation;receiving, with the computing device, a pre-tilled image of an imagedportion of the field located to one side of a first section of the fieldas the tillage implement is being towed across the first section of thefield, the pre-tilled image being associated with an initial side viewimage of the imaged portion of the field from one of the work vehicle orthe tillage implement prior to the tillage operation being performedthereon; receiving, with the computing device, a post-tilled image ofthe imaged portion of the field as the tillage implement is being towedby the work vehicle across the field, the post-tilled image beingassociated with a subsequent side view image of the imaged portion ofthe field after the tillage operation has been performed thereon;analyzing, with the computing device, the pre-tilled and post-tilledimages of the imaged portion of the field to estimate a crop residueparameter for the field; and when the estimated crop residue parameterdiffers from a target associated with the crop residue parameter,actively adjusting, with the computing device, the operation of thetillage implement in a manner designed to adjust the crop residueparameter.
 2. The method of claim 1, wherein receiving the pre-tilledand post-tilled images of the imaged portion of the field comprisesreceiving the pre-tilled and post-tilled images from at least oneimaging device provided in operative association with the work vehicleor the implement.
 3. The method of claim 2, wherein a field of view ofthe at least one imaging device is directly generally perpendicular to atravel direction of the work vehicle.
 4. The method of claim 2, whereinthe at least one imaging device corresponds to a first imaging deviceconfigured to capture images of the field along a first side of the oneof the work vehicle or the tillage implement and a second imaging deviceconfigured to capture images of the field along a second side of the oneof the work vehicle or the tillage implement.
 5. The method of claim 1,wherein analyzing the pre-tilled and post-tilled images comprisesanalyzing the pre-tilled and post-tilled images to estimate both apre-tilled percent crop residue coverage for the imaged portion of thefield and a post-tilled percent crop residue coverage for the imagedportion of the field.
 6. The method of claim 5, wherein activelyadjusting the operation of the tillage implement comprises activelyadjusting the operation of the tillage implement to adjust the cropresidue parameter when the post-tilled percent crop residue coveragediffers from a target percentage associated with the crop residueparameter.
 7. The method of claim 5, further comprising: determining apercent crop residue differential for the imaged portion of the fieldbased on the pre-tilled percent crop residue coverage and post-tilledpercent crop residue coverage; and wherein actively adjusting theoperation of the tillage implement comprises actively adjusting theoperation of the tillage implement based on at least one of the percentcrop residue differential or the post-tilled percent crop residuecoverage.
 8. The method of claim 1, wherein analyzing the pre-tilled andpost-tilled images comprises automatically identifying crop residuecontained within each of the pre-tilled and post-tilled images using acomputer-vision technique.
 9. The method of claim 8, whereinautomatically identifying the crop residue contained within each of thepre-tilled and post-tilled images comprises identifying the crop residuebased on differences in a reflectivity or spectral absorption betweenthe crop residue and soil contained within each of the pre-tilled andpost-tilled images.
 10. The method of claim 1, wherein activelyadjusting the operation of the tillage implement comprises adjusting atleast one of a ground speed of the tillage implement or a tillageparameter associated with one or more ground-engaging tools of thetillage implement.
 11. The method of claim 10, wherein the tillageparameter comprises at least one of a penetration depth or a downpressure associated with the one or more ground-engaging tools.
 12. Asystem for estimating and adjusting crop residue parameters as a tillageoperation is being performed within a field via a tillage implementtowed by a work vehicle, the system comprising: an imaging deviceinstalled relative to one of the work vehicle or the tillage implementsuch that the imaging device is configured to capture images of thefield as the tillage operation is being performed; a controllercommutatively coupled to the imaging device, the controller including aprocessor and associated memory, the memory storing instructions that,when implemented by the processor, configure the controller to: receive,from the imaging device, a pre-tilled image of an imaged portion of thefield located to one side of a first section of the field as the tillageimplement is being towed by the work vehicle across the first section ofthe field, the pre-tilled image being associated with an initial sideview image of the imaged portion of the field from the one of the workvehicle or the tillage implement prior to the tillage operation beingperformed thereon; receive, from the imaging device, a post-tilled imageof the imaged portion of the field as the tillage implement is beingtowed by the work vehicle along the field, the post-tilled image beingassociated with a subsequent side view image of the imaged portion ofthe field after the tillage operation has been performed thereon;analyze the pre-tilled and post-tilled images of the imaged portion ofthe field to estimate a crop residue parameter for the field; when theestimated crop residue parameter differs from a target associated withthe crop residue parameter, actively adjust the operation of the tillageimplement in a manner designed to adjust the crop residue parameter. 13.The system of claim 12, wherein a field of view of the imaging device isdirectly generally perpendicular to a travel direction of the workvehicle.
 14. The system of claim 12, wherein the imaging devicecorresponds to a first imaging device configured to capture images ofthe field along a first side of the one of the work vehicle or thetillage implement, further comprising a second imaging device configuredto capture images of the field along a second side of the one of thework vehicle or the tillage implement.
 15. The system of claim 12,wherein the imaging device comprises a camera.
 16. The system of claim12, wherein the controller is configured to analyze the pre-tilled andpost-tilled images to estimate both a pre-tilled percent crop residuecoverage for the imaged portion of the field and a post-tilled percentcrop residue coverage for the imaged portion of the field.
 17. Thesystem of claim 16, wherein the controller is further configured todetermine a percent crop residue differential for the imaged portion ofthe field based on the pre-tilled percent crop residue coverage andpost-tilled percent crop residue coverage.
 18. The system of claim 12,wherein the controller is further configured to automatically identifycrop residue contained within each of the pre-tilled and post-tilledimages using a computer-vision technique.
 19. The system of claim 12,wherein the controller is configured to actively adjust at least one ofa ground speed of the tillage implement or a tillage parameterassociated with one or more ground-engaging tools of the tillageimplement to adjust the crop residue parameter.
 20. The system of claim19, wherein the tillage parameter comprises at least one of apenetration depth or a down pressure associated with the one or moreground-engaging tools.